15.9 General Limits
Power: A limit for the maximum mechanical work produced by the robot on the envi-
ronment, considering that the payload is part of the robot and not of the environ-
ment.
Speed: A limit for the maximum linear speed of the robot TCP.
Momentum: A limit for the maximum momentum of the robot arm.
There are two means available for configuring the general safety limits within the in-
stallation; Basic Settings and Advanced Settings which are described more fully below.
Defining the general safety limits only defines the limits for the tool, and not the over-
all limits of the robot arm. This means that although a speed limit is specified, it does
not guarantee that other parts of the robot arm will obey this same limitation.
When in Freedrive mode (see 12.1.5), and the current speed of the robot TCP is close
to the Speed limit, the user will feel a repelling force which increases in magnitude the
closer the speed comes to the limit. The force is generated when the current speed is
within approximately 250
mm
/s of the limit.
Basic Settings The initial general limits subpanel, shown as the default screen, fea-
tures a slider with the following predefined sets of values for the general limits in both
Normal and Reduced modes:
Very Restricted: Intended to be used where it is particularly dangerous for the robot
arm or its payload to hit a human.
Restricted: Intended to be used where there is a high risk of the robot arm or its payload
hitting a human, and the robot arm along with its payload has no sharp edges.
Default: Intended to be used where people are aware of the robot arm and its payload,
and/or when application has no sharp edges and no pinching hazards.
Least Restricted: Intended to be used where there is little risk of the robot arm or its
payload hitting a human, such as inside CNC machines, behind fences or in hard-
to-reach places.
These modes are merely suggestions and a proper risk assessment is always required.
Switching to Advanced Settings Should none of the predefined sets of values be
satisfactory, the Advanced Settings... button can be pressed to enter the ad-
vanced general limits screen.
Advanced Settings
Version 3.1 (rev. 17782)
Copyright © 2009-2015 by Universal Robots A/S. All rights reserved.
II-99 CB3
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